controlsd is driven by selfdriveState (#33541)

* controlsd is driven by selfdriveState * update refs
8 months ago · b168c6f9af
parent 13d947375a
commit b168c6f9af
3 changed files with 3 additions and 3 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -37,7 +37,7 @@ class Controls:

    self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='carState')
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
    self.pm = messaging.PubMaster(['carControl', 'controlsState'])

    self.steer_limited = False
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -485,7 +485,7 @@ CONFIGS = [
    subs=["carControl", "controlsState"],
    ignore=["logMonoTime", ],
    init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("carState"),
+    should_recv_callback=MessageBasedRcvCallback("selfdriveState"),
    tolerance=NUMPY_TOLERANCE,
  ),
  ProcessConfig(
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-849fcc369f7afa78606cba636fe7c73e540e6df8
+13d947375a5908d68b33bf3b51b799f8021a35a6